• Journal of Energy Engineering
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• v.24 no.3
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• pp.128-134
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• 2015

This research is that analyze multi-body system that have flexible and rigid body. Transfer robots are widely used mainly in automobile industry owing to its capability to handle heavy parts with high speed in wide range of movement. For the transfer robots to widen the application area, a new three-axis mechanism with heavy payload has been recently developed in consideration of the strength and stiffness. For the purpose, transient dynamic analysis is carried out to find the component position yielding a certain time. Though this research, we can analysis stress distribution and deformation of robot component.

• Journal of the Semiconductor & Display Technology
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• v.9 no.1
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• pp.23-28
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• 2010

In this paper, wafer drop from wafer guide mechanism, which is one of the serious problems in water transfer robot, is analyzed, and new wafer guide mechanisms are proposed to minimize this drop. Three types of new wafer guide mechanisms are proposed: roller type, gear type and L-shape rocker type. We choose one of the proposed mechanism, which is roller type, and verified this mechanism through real transfer experiment. Wafer picking up test is conducted with initial aligning error for simulating the wafer drop. Number of drop is compared between conventional mechanism and proposed mechanism. As a result, we can find the proposed mechanism can reduce the number of wafer drop dramatically.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2004.10a
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• pp.418-421
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• 2004

This research is that analysis multi-body system that have flexibility. We composed system consisted of crane, part of traveling and robot. And we analyzed the aspect of vibration when this system runs using ADAMS. Through this research we can analyze vibration and displacement of end-effect part of the large size robot. And this research can became reference that is going to analyze resemblant dynamic system.

• Transactions of the Korean Society of Machine Tool Engineers
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• v.16 no.5
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• pp.1-6
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• 2007

This paper presents a new experimental Servo-Parameter tuning technique for a 6-axes articulated robot manipulator, especially considering robot's dynamics. First of all, investigation for proportional gain of velocity control loop by using a Dynamic Signal Analyzer(DSA) is performed. Using the FUNCTION characteristic of DSA based on the Bode plot, the Bode plot of open loop transfer function can be obtained. In turn, the integral gain of a servo controller can be found out by using the integration time constant extracted from the Bode plot of open loop transfer function. In the meanwhile, the positional gain of the servo controller can be obtained by using the Bode plot of the closed loop transfer function. Using the experimental gain tuning technique proposed in this paper, the testing linear motion of DR6-II robot has been shown to be more accurate rather than the motion with a conventional(empirical) gain tuning technique in Doosan Mecatec Co., Ltd., by improving the dynamic response of the robot as well as synchronizing each joint velocity according to the positional command of an end-effector.

• Korean Journal of Air-Conditioning and Refrigeration Engineering
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• v.20 no.3
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• pp.189-196
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• 2008

The increase of system weight due to installation of cooling devices adds electrical and mechanical loads of humanoid robot, and in return, results in much heat. Therefore, the weight of cooling system is a critical issue for robot cooling. In this study, we propose non-metallic cold plates to deal with such problems. We compare thermal performances between one metallic cold plate and five different types of non-metallic cold plates. A metallic cold plate is totally made of copper. Five non-metallic PC(polycarbonate) cold plates, which are designed to reduce the overall weight of robot cooling system, are composed of a polycarbonate cover with different types of base plate. The overall heat transfer coefficients per unit mass and thermal resistances are obtained for the cold plates. The metallic cold plate shows the best thermal performance. It is interesting to note that the PC cold plate with an aluminum base plate with 18 channels shows the best overall heat transfer coefficient per unit mass. Most polycarbonate cold plates display fairly comparable thermal performance with more reduced system weight compared to the metallic cold plate.

• Journal of the Semiconductor & Display Technology
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• v.21 no.4
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• pp.65-70
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• 2022

In manufacturing and semiconductor industries, transfer robots increase productivity through accurate and continuous work. Due to the nature of the semiconductor process, there are environments where humans cannot intervene to maintain internal temperature and humidity in a clean room. So, transport robots take responsibility over humans. In such an environment where the manpower of the process is cutting down, the lack of maintenance and management technology of the machine may adversely affect the production, and that's why it is necessary to develop a technology for the machine failure diagnosis system. Therefore, this paper tries to identify various causes of failure of transport robots that are widely used in semiconductor automation, and the Prognostics and Health Management (PHM) method is considered for determining and predicting the process of failures. The robot mainly fails in the driving unit due to long-term repetitive motion, and the core components of the driving unit are motors and gear reducer. A simulation drive unit was manufactured and tested around this component and then applied to 6-axis vertical multi-joint robots used in actual industrial sites. Vibration data was collected for each cause of failure of the robot, and then the collected data was processed through signal processing and frequency analysis. The processed data can determine the fault of the robot by utilizing machine learning algorithms such as SVM (Support Vector Machine) and KNN (K-Nearest Neighbor). As a result, the PHM environment was built based on machine learning algorithms using SVM and KNN, confirming that failure prediction was partially possible.

• Journal of Mechanical Science and Technology
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• v.14 no.2
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• pp.131-140
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• 2000

For a walking robot with high constant body speed, the dynamic effects of the legs on the transfer phase are dominant compared with other factors. This paper presents a new force distribution algorithm to maximize walkable terrain without slipping considering the dynamic effects of the legs on the transfer phase. Maximizing the walkable terrain means having the capability of walking on more slippery ground under the same constraint, namely constant body speed. A simple force distribution algorithm applied to the proposed walking model with a pantograph leg shows an improvement in the capability of preventing foot-slippage compared with one using a pseudo-inverse method.

• Proceedings of the Korean Society For Composite Materials Conference
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• 2002.10a
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• pp.241-244
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• 2002

Recently, the size of glass panel is increased to $1250 mm{\times}1100 mm{\times}0.7 mm$, whose mass is 2.65 kg, which requires much stiffer robot structure. In addition to the high stiffness, the robot hands and wrists for glass panel handling should have miller surface finishing of its outer surface to prevent particles and dusts from adhering on the surface. The maximum height of the robot structure should not be larger than 1500 mm because other automated guided vehicles (AGV) and transfer equipments have been designed within this size limit. The difference of maximum deflections of the four ends of the hands before and after loading the glass panel should be less than 2.0 mm. In this work, the robot hands and wrists for handling large glass panel displays were designed based on the axiomatic design using the finite element method along with optimization routine.

• 제어로봇시스템학회:학술대회논문집
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• 1990.10a
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• pp.372-376
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• 1990

This paper represents a control method of improving the performance of direct drive robot. The direct transfer of torque and rotational speed of direct drive motor to the robot body without reduction gear makes the robot speed fast. However, the variation of inertia matrix and low friction cause the control difficult, and one more effort must be in the reducing the acceleration and deceleration time to reduce the cycle time. To fasten the cycle time and to improve the robustness of robot, one control method is developed, and implemented in the Goldstar DD robot. This method does not need to change the conventional PI type control structure, but one additional compensational control law is required. The control law can be obtained via inverse dynamic model of robot, and inverse model of existing control loop. The effects of this control law are shown in this paper.

• Journal of Engineering Education Research
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• v.14 no.3
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• pp.31-37
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• 2011

This article presents program development and analysis of a creative robot school for elementary school at the local university. The purpose of opening the creative robot school is to give motivation to children for having interests in science and engineering at their young ages. The creative robot school program is developed by using facilities of a local university to spread scientific knowledge to young children in their communities to draw their interests in science as well as an engineering field for future careers. Since the robot system is a popular subject to draw attention of children and has a relation with Mechatronics Engineering, a program related with robots is selected for educating children. College students are also involved in helping children to build robots within a given time. Experiences and self-evaluations from the previously held creative robot schools at Chungnam National University(CNU) are presented to share with.